throttling_camera::ThrottlingCamera Class Reference

Inheritance diagram for throttling_camera::ThrottlingCamera:

Public Member Functions
void	Load (gazebo::sensors::SensorPtr parent, sdf::ElementPtr sdf) override
void	OnNewFrame (const unsigned char *image, unsigned int width, unsigned int height, unsigned int depth, const std::string &format) override
	ThrottlingCamera ()=default
	~ThrottlingCamera () override=default

Private Attributes
gazebo::sensors::SensorPtr	camPtr
double	maxUpdateInterval
gazebo::physics::PresetManagerPtr	presetManager
std::unique_ptr< AverageStat >	timeSamples
gazebo::physics::WorldPtr	world
Private Attributes inherited from gazebo::GazeboRosCameraUtils
bool	auto_distortion_
bool	border_crop_
boost::thread	callback_queue_thread_
rendering::CameraPtr	camera_
boost::shared_ptr< camera_info_manager::CameraInfoManager >	camera_info_manager_
ros::Publisher	camera_info_pub_
std::string	camera_info_topic_name_
ros::CallbackQueue	camera_queue_
double	cx_
double	cx_prime_
double	cy_
unsigned int	depth_
double	distortion_k1_
double	distortion_k2_
double	distortion_k3_
double	distortion_t1_
double	distortion_t2_
double	focal_length_
std::string	format_
std::string	frame_name_
double	hack_baseline_
unsigned int	height_
boost::shared_ptr< int >	image_connect_count_
boost::shared_ptr< boost::mutex >	image_connect_count_lock_
sensor_msgs::Image	image_msg_
image_transport::Publisher	image_pub_
std::string	image_topic_name_
bool	initialized_
common::Time	last_info_update_time_
common::Time	last_update_time_
boost::mutex	lock_
sensors::SensorPtr	parentSensor_
ros::NodeHandle *	rosnode_
common::Time	sensor_update_time_
int	skip_
std::string	trigger_topic_name_
std::string	type_
double	update_period_
double	update_rate_
boost::shared_ptr< bool >	was_active_
unsigned int	width_
physics::WorldPtr	world
physics::WorldPtr	world_

Additional Inherited Members
Private Member Functions inherited from gazebo::GazeboRosCameraUtils
	GazeboRosCameraUtils ()
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix="")
void	Load (sensors::SensorPtr _parent, sdf::ElementPtr _sdf, const std::string &_camera_name_suffix, double _hack_baseline)
event::ConnectionPtr	OnLoad (const boost::function< void()> &)
	~GazeboRosCameraUtils ()
void	CameraQueueThread ()
virtual bool	CanTriggerCamera ()
void	ImageConnect ()
void	ImageDisconnect ()
void	PublishCameraInfo ()
void	PublishCameraInfo (ros::Publisher camera_info_publisher)
void	PublishCameraInfo (common::Time &last_update_time)
void	PutCameraData (const unsigned char *_src)
void	PutCameraData (const unsigned char *_src, common::Time &last_update_time)
virtual void	TriggerCamera ()

Detailed Description

Gazebo camera plugin for a world-throttling (rate-preserving) camera.

This plugin will slow the simulation down to maintain average publishing rate. Note that this plugin will only perform slowdown, it will not speed the simulation back up!

Definition at line 112 of file throttling_camera.cpp.

Constructor & Destructor Documentation

ThrottlingCamera()

throttling_camera::ThrottlingCamera::ThrottlingCamera ( )

default

~ThrottlingCamera()

throttling_camera::ThrottlingCamera::~ThrottlingCamera ( )

overridedefault

Member Function Documentation

Load()

void throttling_camera::ThrottlingCamera::Load ( gazebo::sensors::SensorPtr  parent, sdf::ElementPtr  sdf  )

inlineoverride

Plugin load function. Called by Gazebo each time the plugin is instantiated.

Parameters

parent	Gazebo sensor that this plugin connects to.
sdf	SDF element containing this plugin.

Definition at line 137 of file throttling_camera.cpp.

OnNewFrame()

void throttling_camera::ThrottlingCamera::OnNewFrame ( const unsigned char *  image, unsigned int  width, unsigned int  height, unsigned int  depth, const std::string &  format  )

inlineoverride

Frame callback. Called every time a new frame is rendered by the camera.

Checks whether we should slow simulation down and publishes a new image message.

Parameters

image	Image data.
width	Image width, in pixels.
height	Image height, in pixels.
depth	Image depth, in bytes.
format	Image format description string.

Definition at line 210 of file throttling_camera.cpp.

Member Data Documentation

camPtr

gazebo::sensors::SensorPtr throttling_camera::ThrottlingCamera::camPtr

private

A pointer to the Gazebo camera sensor.

Definition at line 116 of file throttling_camera.cpp.

maxUpdateInterval

double throttling_camera::ThrottlingCamera::maxUpdateInterval

private

Maximum update interval that is considered "okay". Should be higher than the "average" update interval to avoid extreme slowdowns

Definition at line 123 of file throttling_camera.cpp.

presetManager

gazebo::physics::PresetManagerPtr throttling_camera::ThrottlingCamera::presetManager

private

A pointer to the physics preset manager. Used to actually slow the simulation down.

Definition at line 120 of file throttling_camera.cpp.

timeSamples

std::unique_ptr<AverageStat> throttling_camera::ThrottlingCamera::timeSamples

private

Statistics for publishing time intervals.

Definition at line 126 of file throttling_camera.cpp.

world

gazebo::physics::WorldPtr throttling_camera::ThrottlingCamera::world

private

A pointer to the current simulated world (required to change world parameters)

Definition at line 118 of file throttling_camera.cpp.

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The documentation for this class was generated from the following file:

• throttling_camera.cpp